TY - GEN
T1 - Space dimension perception from the multimodal sensorimotor flow of a naive robotic agent
AU - Laflaquière, Alban
AU - Argentieri, Sylvain
AU - Gas, Bruno
AU - Castillo-Castenada, Eduardo
PY - 2010
Y1 - 2010
N2 - Perception and action are fundamental tasks for autonomous robots. Traditionnally, they rely on theoretical models built by the system's designer. But, is a naive agent able to learn by itself the structure of its interaction with the environment without any a priori information ? This knowledge should be extracted through the analysis of the only information it has access to: its high-dimensional sensorimotor flow. Recent works, based on the sensorimotor contingencies theory, allow a simulated agent to extract the geometrical space dimensionality without any model of itself nor of the environment. In this paper, these results are validated using a more sophisticated auditive modality. The question of multimodality fusion is then addressed by fitting up the agent with vision. Finally, preliminary experimental results on a real robotic platform are presented.
AB - Perception and action are fundamental tasks for autonomous robots. Traditionnally, they rely on theoretical models built by the system's designer. But, is a naive agent able to learn by itself the structure of its interaction with the environment without any a priori information ? This knowledge should be extracted through the analysis of the only information it has access to: its high-dimensional sensorimotor flow. Recent works, based on the sensorimotor contingencies theory, allow a simulated agent to extract the geometrical space dimensionality without any model of itself nor of the environment. In this paper, these results are validated using a more sophisticated auditive modality. The question of multimodality fusion is then addressed by fitting up the agent with vision. Finally, preliminary experimental results on a real robotic platform are presented.
UR - http://www.scopus.com/inward/record.url?scp=78651497432&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5651695
DO - 10.1109/IROS.2010.5651695
M3 - Contribución a la conferencia
AN - SCOPUS:78651497432
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 1520
EP - 1525
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -